We additionally experiment with initializing the model using weights trained on the ALFRED dataset.
Note that since the language vocabulary and action space change, some layers need to be retrained.
For EDH, we experiment with initializing the model both with weights from the E.T. model trained only on base ALFRED annotations (A) and the model trained on ALFRED augmented with synthetic instructions (S) (from [1]}).
We also perform unimodal ablations of the E.T. model to determine whether the model is simply memorizing sequences from the training data [2]}.
